public void setNextWPTargetAlt(ushort wpno, float alt)
{
// get the existing wp
Locationwp current = getWP(wpno);
mavlink_mission_write_partial_list_t req = new mavlink_mission_write_partial_list_t();
req.target_system = MAV.sysid;
req.target_component = MAV.compid;
req.start_index = (short) wpno;
req.end_index = (short) wpno;
// change the alt
current.alt = alt;
// send a request to update single point
generatePacket((byte) MAVLINK_MSG_ID.MISSION_WRITE_PARTIAL_LIST, req);
Thread.Sleep(10);
generatePacket((byte) MAVLINK_MSG_ID.MISSION_WRITE_PARTIAL_LIST, req);
MAV_FRAME frame = (current.options & 0x1) == 0 ? MAV_FRAME.GLOBAL : MAV_FRAME.GLOBAL_RELATIVE_ALT;
//send the point with new alt
setWP(current, wpno, MAV_FRAME.GLOBAL_RELATIVE_ALT, 0);
// set the point as current to reload the modified command
setWPCurrent(wpno);
}
/// <summary>
/// Set start and finish for partial wp upload.
/// </summary>
/// <param name="startwp"></param>
/// <param name="endwp"></param>
public void setWPPartialUpdate(ushort startwp, ushort endwp)
{
mavlink_mission_write_partial_list_t req = new mavlink_mission_write_partial_list_t();
req.target_system = MAV.sysid;
req.target_component = MAV.compid;
req.start_index = (short) startwp;
req.end_index = (short) endwp;
generatePacket((byte) MAVLINK_MSG_ID.MISSION_WRITE_PARTIAL_LIST, req);
}
